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NASA NTRS1991

Robust controller designs for second-order dynamic systems - A virtual passive approach

A robust controller design is presented for second-order dynamic systems. The controller is model-independent and itself is a virtual second-order dynamic system. Conditions on actuator and sensor placements are identified for controller designs that guarantee overall closed-loop stability. The dynamic controller can be viewed as a virtual passive damping system that serves to stabilize the actual dynamic system. The control gians are interpreted as virtual mass, spring, and dashpot elements that play the same roles as actual physical elements in stability analysis. Position, velocity, and acceleration feedback are considered. Simple examples are provided to illustrate the physical meaning of this controller design.

Juang, Jer-Nan↗

NASA NTRS1991

Testing and application of a viscous passive damper for use in precision truss structures

A passive damping device intended to replace individual struts in precision truss structures for space applications is described. The theory of operation of the D-Strut device is detailed, and simple five- and three-parameter models are derived. Results from tests conducted to characterize the D-Strut at submicron displacement levels are reporeted. The incorporation of a strut in a precision truss testbed is described. Parameters determined from the component-level tests are used in a finite element model of the truss, and damping augmentation is predicted. Using the simple three-parameter model, a damper is selected for multiple placement in a separate optical interferometer truss testbed. The effect of the addition of the damper struts is illustrated analytically in a model of the structure. Finally, an improved Arched Flexure D-Strut that is expected to provide higher loss factors, and is currently under development, is described.

Trubert, M.↗

NASA NTRS1991

Damping of structural vibrations with piezoelectric materials and passive electrical networks

The possibility of dissipating mechanical energy with piezoelectric material shunted with passive electrical circuits is investigated. The effective mechanical impedance for the piezoelectric element shunted by an arbitrary circuit is derived. The shunted piezoelectric is shown to possess frequency dependent stiffness and loss factor which are also dependent on the shunting circuit. The generally shunted model is specialized for two shunting circuits: the case of a resistor alone and that of a resistor and inductor. For resistive shunting, the material properties exhibit frequency dependence similar to viscoelastic materials, but are much stiffer and more independent of temperature. Shunting with a resistor and inductor introduces an electrical resonance, which can be optimally tuned to structural resonances in a manner analogous to a mechanical vibration arsorber. Techniques for analyzing systems which incorporate these shunting cases are presented and applied to a cantilevered beam experiment. The experimental results for both the resistive and resonant shunting circuits validate the shunted piezoelectric damping models.

Hagood, N. W.↗

NASA NTRS1990

A passive bearing system using superconducting magnets

A passive radial bearing concept is presented using superconducting magnets which can generate a bearing pressure as high as 360 N/sq cm, comparable to a conventional active bearing system. The system consists of a number of solenoidal superconducting coils of alternating current direction. These coils are stacked axially over the bearing length and connected in series. The currents in stator and rotor coils are in the opposite directions, generating repulsive forces. This system, in comparison with an active system, has the advantage of much smaller power dissipation in the coils since the coil currents are mostly dc currents. The cooling for the superconducting coils is therefore simpler, and the coils are more stable. An optimization study seeking the maximum bearing pressure was conducted. Details of the design, pressure calculations, and results are presented.

Huang, X.↗

NASA NTRS1991

Aircraft multifrequency passive microwave observations of light precipitation over the ocean

Aircraft passive microwave observations at 18, 37, 92, and 183 GHz of light oceanic precipitation are studied in conjunction with visible and infrared observations and ground-based radar data. Microwave signatures for clear, cloudy, and precipitating conditions are defined, with results in general agreement with previous theoretical results. Emission signatures are evident at 18, 37, and 92 GHz with clouds and precipitation producing an increase in brightness temperature over that observed over the low-emissivity ocean background. Polarization differences at 18 and 37 GHz also decrease in precipitation areas to minima of 30 K at 18 GHz and 15 K at 37 GHz. The 92-GHz brightness temperature shows a double-valued relationship, with an increase in cloudy and very lightly raining areas and a subsequent decrease for higher rain rates and deeper clouds where the ice scattering process becomes important. The 183-GHz observations display a distinct sensitivity to small amounts of ice. Simple channel differences are shown to compare favorably to the rain field, including polarization differences at 18 and 37 GHz and frequency differences between 92 and 37 GHz and between 183 and 92 GHz.

Adler, Robert F.↗

NASA NTRS1991

Comparison of motion and stereo methods in passive ranging systems

The authors compare the estimates in passive ranging systems using motion and stereo approaches. It is shown that an integrated approach is necessary to provide better range estimates over a field-of-view (FOV) of interest in helicopter flight. The recursive approach for processing a sequence of stereo images, described together with a recursive motion algorithm (RMA), provides the basis for an integrated method to provide more accurate range information. Results based on motion sequences of stereo images are presented.

Sridhar, Banavar↗

NASA NTRS1991

Ice water path estimation and characterization using passive microwave radiometry

Model computations of top-of-atmospheric microwave brightness temperatures T(B) from layers of precipitation-sized ice of variable bulk density and ice water content (IWC) are presented. It is shown that the 85-GHz T(B) depends essentially on the ice optical thickness. The results demonstrate the potential usefulness of scattering-based channels for characterizing the ice phase and suggest a top-down methodology for retrieval of cloud vertical structure and precipitation estimation from multifrequency passive microwave measurements. Attention is also given to radiative transfer model results based on the multiparameter radar data initialization from the Cooperative Huntsville Meteorological Experiment (COHMEX) in northern Alabama. It is shown that brightness temperature warming effects due to the inclusion of a cloud liquid water profile are especially significant at 85 GHz during later stages of cloud evolution.

Vivekanandan, J.↗

NASA NTRS1992

Passive Accelerometer

Motion of ball in liquid indicates acceleration. Passive accelerometer measures small accelerations along cylindrical axis. Principle of operation based on Stokes' law. Provides accurate measurements of small quasi-steady accelerations. Additional advantage, automatically integrates out unwanted higher-frequency components of acceleration.

Naumann, Robert J.↗

NASA NTRS1991

Passive range estimation for rotorcraft low-altitude flight

The automation of rotorcraft low-altitude flight presents challenging problems in control, computer vision and image understanding. A critical element in this problem is the ability to detect and locate obstacles, using on-board sensors, and modify the nominal trajectory. This requirement is also necessary for the safe landing of an autonomous lander on Mars. This paper examines some of the issues in the location of objects using a sequence of images from a passive sensor, and describes a Kalman filter approach to estimate the range to obstacles. The Kalman filter is also used to track features in the images leading to a significant reduction of search effort in the feature extraction step of the algorithm. The method can compute range for both straight line and curvilinear motion of the sensor. A laboratory experiment was designed to acquire a sequence of images along with sensor motion parameters under conditions similar to helicopter flight. Range estimation results using this imagery are presented.

Sridhar, B.↗

NASA NTRS1992

Testing of FTS fingers and interface using a passive compliant robot manipulator

This report deals with testing of a pair of robot fingers designed for the Flight Telerobotic Servicer (FTS) to grasp a cylinder type of Orbital Replaceable Unit (ORU) interface. The report first describes the objectives of the study and then the testbed consisting of a Stewart Platform-based manipulator equipped with a passive compliant platform which also serves as a force/torque sensor. Kinematic analysis is then performed to provide a closed-form solution for the force inverse kinematics and iterative solution for the force forward kinematics using the Newton's Raphson Method. Mathematical expressions are then derived to compute force/torques applied to the FTS fingers during the mating/demating with the interface. The report then presents the three parts of the experimental study on the feasibility and characteristics of the fingers. The first part obtains data of forces applied by the fingers to the interface under various misalignments, the second part determines the maximum allowable capture angles for mating, and the third part processes and interprets the obtained force/torque data.

Nguyen, Charles C.↗

NASA NTRS1992

Measurements of the radiation dose to LDEF by means of passive dosimetry

A very simple experiment was fielded on LDEF to measure the energetic radiation dose by means of passive dosimetry. It consisted of two identical packets of 16 LiF thermoluminescent dosimeters (TLD) arranged in planar arrays. One array was placed on the leading edge of the spacecraft, the other on the trailing edge. These arrays were installed in opaque packets of 1 mil Al foil and Kapton tape mounted behind an Al plate of 30 mils thickness. The nominal energy thresholds were 14 MeV for protons and 650 keV for electrons. In addition to the flight arrays, two control arrays were prepared which were kept with the flight arrays as long as possible during experimental integration and then stored in the lab. The flight and control arrays were read out alternating in groups of four; it was found that the control dose was negligible. The flight and control detectors were exposed to a 55 MeV proton beam in order to provide a recalibration of the detectors. It was found that the post-flight and pre-flight calibrations were in good agreement. A comparison of results with the prediction shows that the measured dose was a factor of 4 to 5 low. It is possible that there was in-flight annealing of the TLDs as a result of the long mission and perhaps temperature excursions of the sensors. The East-West effect was larger than expected. The ratio of 1.65 is approximately what was expected for the protons alone. Electrons should reduce the dose ratio since electrons add equally to the leading and trailing edge dose. A possible explanation is that the electron dose was negligible compared to the proton dose.

Blake, J. B.↗

NASA NTRS1991

Passive dynamic controllers for non-linear mechanical systems

The objective is to develop active model-independent controllers for slewing and vibration control of nonlinear multibody flexible systems, including flexible robots. The topics are presented in viewgraph form and include: passive stabilization; work-energy rate principle; Liapunov theory; displacement feedback; dynamic controller; displacement and acceleration feedback; velocity feedback; displacement feedback; physical interaction; a 6-DOF robot; and simulation results.

Jer-Nan Juang↗

NASA NTRS1992

Effect of flux penetration on the load capacity of passive superconducting bearings

A dramatic improvement has been made in the load capacity of a superconductor magnet pair. The measured load capacities that stood at 0.1 psi two years back were improved now to an impressive 40 psi. This improvement is mainly due to better processing techniques developed by the superconducting material processing community. The analysis indicates that, by using these processing techniques that efficiently prevent flux penetration, high load capacities were achieved. With these developments, it is possible to insert passive bearings into actual applications within the next few years.

Rao, Dantam K.↗

NASA NTRS1992

A demonstration of passive blade twist control using extension-twist coupling

The results from a study aimed at improving the dynamic and aerodynamic characteristics of composite rotor blades through the use of extension-twist coupling are presented. A set of low twist model-scale helicopter rotor blades was manufactured with a view towards demonstrating the passive blade twist control concept. Hover testing of the blades was conducted to measure the change in blade twist as a function of rotor speed. The blades were spun through the 0-800 rpm range, with a corresponding sweep of collective pitch to determine the effect on the blade elastic twist. Hover data were obtained for both a ballasted and unballasted blade configuration in atmospheric conditions, where maximum twist changes of 2.54 and 5.24 degrees were respectively observed. These results compared well with those from a finite element analysis of the blade, which yielded maximum twists of 3.01 and 5.61 degrees for the unballasted and ballasted blade configurations, respectively. The aerodynamic-induced effects on the blade elastic twist, determined by testing a ballasted blade configuration in a near-vacuum condition, were found to be minimal with a maximum twist difference of 0.17 degrees observed between the two test environments. The effect of collective pitch sweep on the elastic twist was minimal.

Lake, Renee C.↗

NASA NTRS1992

Passive fetal monitoring sensor

An ambulatory, passive sensor for use in a fetal monitoring system is discussed. The invention is comprised of a piezoelectric polymer film, combined with a metallic mounting plate fastened to a belt, and electrically connected to a signal processing unit by means of a shielded cable. The purpose of the sensor is to receive pressure pulses emitted by a fetus inside an expectant mother. Additionally, the monitor will filter out pressure pulses arising from other sources, such as the maternal heart.

Zuckerwar, Allan J.↗

NASA NTRS1991

Passive microwave remote and in situ measurements of Arctic and subarctic snow covers in Alaska

Airborne and satellite passive microwave measurements acquired simultaneously with ground measurements of depth, density, and stratigraphy of the snow in central and northern Alaska between March 11 and 19, 1988, are reported. A good correspondence in brightness temperature (TB) trends between the aircraft and satellite data was found. An expected inverse correlation between depth hoar thickness and TB was not found to be strong. A persistent TB minimum in both the aircraft and the satellite data was detected along the northern foothills of the Brooks Range. In an area located at about 68 deg 60 min N, 149 deg 20 min W, the TB as recorded from the aircraft microwave sensor dropped by 55 K. Satellite microwave measurements showed a TB decrease of up to 45 K at approximately the same location. An examination of microwave satellite data from 1978 to 1987 revealed that similar low late-winter values were found in approximately the same locations as those observed in March 1988.

Hall, D. K.↗

NASA NTRS1992

Multifrequency passive microwave observations of soil moisture in an arid rangeland environment

A cooperative experiment was conducted by teams from the U.S. and U.S.S.R. to evaluate passive microwave instruments and algorithms used to estimate surface soil moisture. Experiments were conducted as part of an interdisciplinary experiment in an arid rangeland watershed located in the southwest United States. Soviet microwave radiometers operating at wavelengths of 2.25, 21 and 27 cm were flown on a U.S. aircraft. Radio frequency interference limited usable data to the 2.25 and 21 cm systems. Data have been calibrated and compared to ground observations of soil moisture. These analyses showed that the 21 cm system could produce reliable and useful soil moisture information and that the 2.25 cm system was of no value for soil moisture estimation in this experiment.

Jackson, T. J.↗

NASA NTRS1992

Surface-based passive microwave studies of multiyear sea ice

Results are presented on surface-based multifrequency passive microwave observations of multiyear (MY) sea ice in the eastern Arctic Basin, the Beaufort Sea, the Canadian archipelago, and the northern Greenland Sea. The analyses of these data show that the magnitude of the spectral gradient of emissivity is directly related to the existence and the thickness of a decomposed surface ice layer with very high porosity. Spectra for melt ponds with a frozen surface layer closely resembled those of lake ice and showed a positive spectral gradient. The variance among emissivity spectra for MY ice was caused primarily by the distributions of melt ponds and by the presence of significant amounts of scattering inhomogeneities in the snow and the upper 20-30-cm layer of the ice.

Grenfell, T. C.↗